fly316/PX4-Autopilot
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Merge branch 'autostart_cleanup' into navigator_new_vector

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This commit is contained in:
Anton Babushkin 2014-01-18 20:45:33 +01:00
commit d55ef18c7f
2 changed files with 87 additions and 80 deletions
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2
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -33,7 +33,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
else
echo "[init] Mixer not defined
echo "[init] Mixer not defined"
tone_alarm $TUNE_OUT_ERROR
fi

165
ROMFS/px4fmu_common/init.d/rcS
View File

@ -241,7 +241,10 @@ then
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
set FMU_MODE serial
if hw_ver compare PX4FMU_V1
then
set FMU_MODE serial
fi
else
# Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 &
@ -257,82 +260,12 @@ then
#
set TTYS1_BUSY no
if [ $OUTPUT_MODE == io ]
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
if [ $OUTPUT_MODE != none ]
then
echo "[init] Use PX4IO PWM as primary output"
if px4io start
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] ERROR: PX4IO start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu ]
then
echo "[init] Use FMU PWM as primary output"
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
else
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio ]
then
set TTYS1_BUSY yes
fi
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
fi
if [ $MKBLCTRL_MODE == + ]
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then
echo "[init] MKBLCTRL started"
else
echo "[init] ERROR: MKBLCTRL start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
if hil mode_pwm
then
echo "[init] HIL output started"
else
echo "[init] ERROR: HIL output start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
#
# Start IO or FMU for RC PPM input if needed
#
if [ $IO_PRESENT == yes ]
then
if [ $OUTPUT_MODE != io ]
if [ $OUTPUT_MODE == io ]
then
echo "[init] Use PX4IO PWM as primary output"
if px4io start
then
echo "[init] PX4IO started"
@ -342,9 +275,9 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
else
if [ $OUTPUT_MODE != fmu ]
if [ $OUTPUT_MODE == fmu ]
then
echo "[init] Use FMU PWM as primary output"
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
@ -352,7 +285,7 @@ then
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
@ -365,8 +298,82 @@ then
fi
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
fi
if [ $MKBLCTRL_MODE == + ]
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then
echo "[init] MKBLCTRL started"
else
echo "[init] ERROR: MKBLCTRL start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
if hil mode_pwm
then
echo "[init] HIL output started"
else
echo "[init] ERROR: HIL output start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
#
# Start IO or FMU for RC PPM input if needed
#
if [ $IO_PRESENT == yes ]
then
if [ $OUTPUT_MODE != io ]
then
if px4io start
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] ERROR: PX4IO start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
else
if [ $OUTPUT_MODE != fmu ]
then
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
else
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio ]
then
set TTYS1_BUSY yes
fi
fi
fi
fi
fi
#
# MAVLink
#